New mobility system based on elastic energy under microgravity
New mobility system based on elastic energy under microgravity
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微重力下基于弹性能的新型移动系统
DOI：
10.1109/robot.2002.1013574
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
I. Nakatani
中科院分区：
文献类型：
--
作者：
S. Shimoda;T. Kubota;I. Nakatani
提出了一种采用弹簧和直线作动器的新型行星漫游车移动系统。在微重力环境下，跳跃机动是增强机器人新型机动能力的一种可能选择。一种跳跃的方法是把自己的脚压在地上。这个机器人由两个物体组成，可以用弹簧把自己的物体压在地上。利用弹簧和线性作动器将弹性能转化为动能，实现探测器从静止状态的跳跃。通过将动能转化为弹性能，实现机器人无弹跳着地。仿真研究和地面实验结果表明，该月球车能够跳跃着陆。
This paper proposes a new mobility system for planetary rover using springs and linear actuators. In the microgravity environment, hopping mobility is a possible choice for enhancing a new mobility of the robot. One method to hop is to press one's own to the ground. The proposed robot consists of two masses, and can press one's own to the ground using springs. So the rover can hop from the stationary state by transforming the elastic energy to the kinetic energy using the springs and linear actuators. Furthermore the robot can land without bounding by transforming the kinetic energy to the elastic energy. The simulation studies and the ground experiments shows that the proposed rover could hop and land.